基于计算机视觉的机器人轨迹精度评估系统的设计与实现

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中图分类号：TN911.23-34；TP391 文献标识码：A 文章编号：1004-373X（2025）16-0172-05

Designand realization of robot trajectoryprecision evaluation system based on computer vision

HEYafan1，CHENQiyu²，FANGShengkun²，LIPing²，DENG Zhiwen²，ZHANGJiaye³ （1.School of Mechanical and Automation Engineering，WuyiUniversity，Jiangmen 529o2o，China; 2.Guangdonglca 3.Guangzhou XinbangIntelligent EquipmentCo.，Ltd.，Guangzhou 51062o， China）

Abstract：Inalusion tothe limitations of thecurrent robot accuracyasessment，arobot trajectory precision evaluation systembasedoncomputervisionisproposedtodetectthefeasibityofrobottrajectoryaccuracy.TheimprovedSURFalgorithm isusedtodetecttheoverlappingregioninthevideo，andthetimeoffeatureextractionisshorterby55.6%.TheRANSAC algorithmisusedtoeliminatetheposiblemismatchingpointsintheoverlappingregionoftheROI，soastorealizemore accuratematchingefect.Theweightedfusionalgorithmwithfixedwidthisproposed，whichisnotonlyabletoeficiently eliminatethesplicingseams，butalsocanbeapliedtoacertainreal-timerequirementsoflargescenes.Thehomographymatrix isusedasthecompensationparametertomatchandcalibratethesplicedrealmapwiththerastermapcreatedbytherobotin SLAM.Theauracy eror values between the actualtrajectory inthereal mapandtheplanned trajectoryintheraster mapare evaluated，where the average absolute errorsin the x and y directions are about 4.6% and 4% ，respectively.Itverifiesthat the proposed method can effectively evaluate the trajectory accuracy of robot operation.

Keywords：computer vision;video stitching;trajectoryaccuracy；improved SURFalgorithm；RANSAC algorithm；image fusion;optical-flowmethod;mobilerobot

在当前的移动机器人技术领域，轨迹精度是评估其性能的关键指标之一，它可以反映机器人在执行任务时定位、导航及执行动作的准确性和稳定性[。（剩余6350字）